{"id":"https://openalex.org/W4315488644","doi":"https://doi.org/10.1109/cdc51059.2022.9993264","title":"Stabilization of Nonholonomic Pendulum Skate by Controlled Lagrangians","display_name":"Stabilization of Nonholonomic Pendulum Skate by Controlled Lagrangians","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315488644","doi":"https://doi.org/10.1109/cdc51059.2022.9993264"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9993264","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9993264","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023299897","display_name":"Jorge Silva Garcia","orcid":null},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jorge Silva Garcia","raw_affiliation_strings":["The University of Texas at Dallas,Department of Mathematical Sciences,Richardson,TX,USA,75080-3021"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Dallas,Department of Mathematical Sciences,Richardson,TX,USA,75080-3021","institution_ids":["https://openalex.org/I162577319"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082931316","display_name":"Tomoki Ohsawa","orcid":"https://orcid.org/0000-0001-9406-132X"},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tomoki Ohsawa","raw_affiliation_strings":["The University of Texas at Dallas,Department of Mathematical Sciences,Richardson,TX,USA,75080-3021"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Dallas,Department of Mathematical Sciences,Richardson,TX,USA,75080-3021","institution_ids":["https://openalex.org/I162577319"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5023299897"],"corresponding_institution_ids":["https://openalex.org/I162577319"],"apc_list":null,"apc_paid":null,"fwci":0.7089,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67573306,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"186","issue":null,"first_page":"1861","last_page":"1866"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.8648648262023926},{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.5983566641807556},{"id":"https://openalex.org/keywords/skate","display_name":"Skate","score":0.5320765972137451},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.5302410125732422},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5099540948867798},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.5058305263519287},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.46119120717048645},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4609127640724182},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4605634808540344},{"id":"https://openalex.org/keywords/spinning","display_name":"Spinning","score":0.4395652711391449},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4314887523651123},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.379725843667984},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.34928950667381287},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32626283168792725},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2549009323120117},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19643405079841614},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18439990282058716},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1344992220401764},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1199893057346344},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0867699384689331}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8648648262023926},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.5983566641807556},{"id":"https://openalex.org/C2779853653","wikidata":"https://www.wikidata.org/wiki/Q837104","display_name":"Skate","level":2,"score":0.5320765972137451},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.5302410125732422},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5099540948867798},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.5058305263519287},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.46119120717048645},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4609127640724182},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4605634808540344},{"id":"https://openalex.org/C154815118","wikidata":"https://www.wikidata.org/wiki/Q453762","display_name":"Spinning","level":2,"score":0.4395652711391449},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4314887523651123},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.379725843667984},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.34928950667381287},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32626283168792725},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2549009323120117},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19643405079841614},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18439990282058716},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1344992220401764},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1199893057346344},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0867699384689331},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9993264","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9993264","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W41860320","https://openalex.org/W194456869","https://openalex.org/W1517510250","https://openalex.org/W1573190407","https://openalex.org/W1858828507","https://openalex.org/W1991019551","https://openalex.org/W2025365558","https://openalex.org/W2036766237","https://openalex.org/W2048253740","https://openalex.org/W2099761232","https://openalex.org/W2102263452","https://openalex.org/W2125968092","https://openalex.org/W2127198539","https://openalex.org/W2145785614","https://openalex.org/W2160979028","https://openalex.org/W2162550557","https://openalex.org/W2168866642","https://openalex.org/W2987835013","https://openalex.org/W3106011789","https://openalex.org/W3210217639","https://openalex.org/W3215347978","https://openalex.org/W4240753290","https://openalex.org/W4252959020","https://openalex.org/W4292331646","https://openalex.org/W4294770653","https://openalex.org/W4388322878"],"related_works":["https://openalex.org/W2165107150","https://openalex.org/W2039659752","https://openalex.org/W2360501088","https://openalex.org/W2013177426","https://openalex.org/W2092382675","https://openalex.org/W2016073943","https://openalex.org/W2018918536","https://openalex.org/W772019258","https://openalex.org/W1995660626","https://openalex.org/W2053048081"],"abstract_inverted_index":{"We":[0,74,90],"consider":[1],"the":[2,26,29,37,40,44,46,63,66,72,77,82,92,103],"problem":[3],"of":[4,15,28,36,39,48,65,71,94],"stabilizing":[5],"what":[6],"we":[7],"call":[8],"a":[9,12,16,99],"pendulum":[10],"skate,":[11],"simple":[13],"model":[14],"figure":[17],"skater":[18],"developed":[19],"by":[20,43],"Gzenda":[21],"and":[22,68,81],"Putkaradze.":[23],"By":[24],"exploiting":[25],"symmetry":[27,41],"system":[30],"as":[31,33,52],"well":[32],"taking":[34],"care":[35],"part":[38],"broken":[42],"gravity,":[45],"equations":[47],"motion":[49],"are":[50],"given":[51],"nonholonomic":[53],"Euler\u2013Poincar\u00e9":[54],"equation":[55],"with":[56],"advected":[57],"parameters.":[58],"Our":[59],"main":[60],"interest":[61],"is":[62,79,84],"stability":[64],"sliding":[67,104],"spinning":[69],"equilibria":[70],"system.":[73],"show":[75],"that":[76],"former":[78],"unstable":[80],"latter":[83],"stable":[85],"only":[86],"under":[87],"certain":[88],"conditions.":[89],"use":[91],"method":[93],"Controlled":[95],"Lagrangians":[96],"to":[97,101],"find":[98],"control":[100],"stabilize":[102],"equilibrium.":[105]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}